Geometric Optimization of Serial Chain Manipulator Structures for Working Volume and Dexterity,

V. Kumar, K. J. Waldron, and M. J. Tsai, “Geometric Optimization of Serial Chain Manipulator Structures for Working Volume and Dexterity,” International Journal of Robotics Research, vol. 5, iss. 2, pp. 91-103, 1986.

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